Abstract: There is provided an insertion device allowing a doctor to alone perform an operation to insert a medical linear body. The insertion device, operated to insert a delivery wire (104) into a human body (131) through a blood vessel (132), includes a foot switch (41, 46) generating and outputting a signal to control starting/stopping a drive device (1) moving the delivery wire (104) in its longitudinal direction. Furthermore, the insertion device includes an insertion force sensor (60) operative to measure longitudinally compressive force exerted to the delivery wire (104), and a speaker (92) and a display (93) informing an operator of the compressive force measured by the insertion force sensor (60).

Abstract: The present disclosure provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present disclosure also provides a fixed point stabilization device for a legged mobile body comprising a stabilizing device for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper.

Abstract: A measurement device can detect a degree of bending of a linear body with a sensor when compressive force in a direction of longitudinal axis is applied to the linear body as a result of contact of a tip end of the linear body with an obstacle. Then, the detected degree of bending of the linear body is converted to compressive force in the direction of longitudinal axis applied to the linear body based on predetermined correlation between the degree of bending and the compressive force, so that presence of an obstacle in a direction of travel of the linear body can be sensed based on increase in the compressive force. In addition, as the same measurement device is applicable to linear bodies of various shapes and materials, cost effectiveness is achieved.

Abstract: A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

Abstract: It is possible to provide a power assist device which can maintain a stable contact state without causing an oscillation phenomenon even if a robot is brought into contact with an environment. A method for controlling the power assist device is also provided. The power assist device includes: an inner force sensor which detects an operation force applied by an operator; an operation handle having the inner force sensor; a robot arm which supports the operation handle; an actuator which drives the robot arm; the actuator and a control device which measure or estimate a force applied when the robot arm is brought into contact with an environment; and the actuator and the control device which detect or estimate a motion speed of the operation handle.

Abstract: A convexo concave amplifying device for exhibiting a convexo concave by amplifying a sense of a convexo concave of an object, comprising a sensing member and an exhibiting member. The sensing member 101 comprises a flexible sheet able to contact with the surface of the object O and to deform along the surface of the object. The exhibiting member 120 that is formed on a surface of the flexible sheet and has a deformation resistance smaller than that of the flexible sheet in at least one of directions orthogonal to a direction of thickness of the flexible sheet. With such construction, the object convexo concave can be amplified and exhibited. A deformation sensing device for sensing a deformation thereof comprising a capsule deformable by stress, a viscous fluid F contained in the capsule, and a relative movement sensing member that is disposed inside of the capsule and senses a relative movement against the viscous fluid.

Abstract: A linear body drive device capable of safely and reliably operating a linear body is provided. A linear body insertion device includes a drive portion, an operation portion, a sensor portion and a processing portion serving as a measurement portion, and an output portion serving as a notification portion. The drive portion drives a linear body having flexibility. The operation portion includes an input member (an operation lever) operated by an operator for controlling performance of the drive portion. The sensor portion included in the measurement portion detects compressive force in a direction of longitudinal axis applied to the linear body, based on a degree of bending of the linear body driven by the drive portion. The output portion provides notification of data of compressive force detected by the measurement portion.

Abstract: A measurement device capable of sensing presence of an obstacle within a vessel from outside the vessel in operating a linear body inserted in the vessel is provided. According to this measurement device, an easy-to-use measurement device capable of measuring compressive force in a direction of longitudinal axis applied to the linear body that has a sheath thicker than the linear body, such as a wire having a coil for embolizing an aneurysm attached at a tip end, without lowering measurement accuracy, can be provided. In addition, a length of a restraint portion is minimized, to achieve a smaller size of the measurement device. Moreover, the measurement device capable of measuring compressive force in the direction of longitudinal axis applied to the linear body regardless of magnitude of buckling load of the linear body can be provided, and the same measurement device is applicable to linear bodies of various materials, which leads to cost efficiency.

Abstract: A measurement device can detect a degree of bending of a linear body with a sensor when compressive force in a direction of longitudinal axis is applied to the linear body as a result of contact of a tip end of the linear body with an obstacle. Then, the detected degree of bending of the linear body is converted to compressive force in the direction of longitudinal axis applied to the linear body based on predetermined correlation between the degree of bending and the compressive force, so that presence of an obstacle in a direction of travel of the linear body can be sensed based on increase in the compressive force. In addition, as the same measurement device is applicable to linear bodies of various shapes and materials, cost effectiveness is achieved.

Abstract: The present invention provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present invention also provides a fixed point stabilization device for a legged mobile body comprising stabilizing means for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper. Further, the fixed point is stabilized locally by varying the leg grounding position of the legged mobile body in accordance with a deviation between the fixed point and a current quantity of state.

Abstract: A convexo concave amplifying device for exhibiting a convexo concave by amplifying a sense of a convexo concave of an object, comprising a sensing member and an exhibiting member. The sensing member 101 comprises a flexible sheet able to contact with the surface of the object O and to deform along the surface of the object. The exhibiting member 120 that is formed on a surface of the flexible sheet and has a deformation resistance smaller than that of the flexible sheet in at least one of directions orthogonal to a direction of thickness of the flexible sheet. With such construction, the object convexo concave can be amplified and exhibited. A deformation sensing device for sensing a deformation thereof comprising a capsule deformable by stress, a viscous fluid F contained in the capsule, and a relative movement sensing member that is disposed inside of the capsule and senses a relative movement against the viscous fluid.

Abstract: A molten aluminum alloy processing method is intended use sludge produced by the zinc phosphate treatment of structures including those of aluminum alloys effectively as a flux for molten aluminum alloy processing. The flux contains 3 to 30% by mass fluorine-equivalent metal fluorides, 40 to 90% by mass metal phosphates (8 to 18% by mass P) and 50% by mass or below inorganic salts. The sum of contents of the inorganic salts and metal phosphates is 90% by mass or below.

Abstract: A molten aluminum alloy processing method is intended use sludge produced by the zinc phosphate treatment of sructures including those of aluminum alloys effectively as a flux for molten aluminum alloy processing. The flux contains 3 to 30% by mass fluorine-equivalent metal fluorides, 40 to 90% by mass metal phosphates (8 to 18% by mass P) and 50% by mass or below inorganic salts. The sum of contents of the inorganic salts and metal phosphates is 90% by mass or below.

Abstract: This invention relates to a method for boring a large-section tunnel safely and quickly by reinforcing and improving in advance the ground over the full length of the tunnel section, which includes; boring a top drift (2) through the full length of the tunnel (1) section, drilling curved holes inclined in forward or backward directions at an angle of about 45 degrees at preset intervals from the top drift (2) along the peripheral edges of the sections of the tunnel (1) by using ordinary small bore rock drills and curved steel pipes (3), pulling off the steel pipes (3) after inserting injection pipes into the drilled holes, injecting grout into the ground surrounding the tunnel through the injection pipes to develop artificial ground arches (4), excavating the tunnel (1), advancing suspension forms (6) and placing concrete for secondary lining.

Abstract: A blank for magnetic hard disk and a method for producing the same are provided, characterized in that the attachment or adhesion of a blank of a disk shape to each other can be prevented when such blank is stacked together for disk annealing, thereby improving the productivity of magnetic hard disk, and that the damage of blank surface can be prevented during blanking. Firstly, an aluminium alloy plate is subjected to continuous surface washing process with an etching solution while winding off the aluminium alloy plate in a coil, whereby the oxide film on the surface of the aluminium alloy plate is removed to concurrently deposit insoluble smut on the surface. Then, the aluminium alloy plate after the washing process is pressed for blanking thereof into a blank of a disk shape.

Abstract: A garbage disposing device of an energy-saving type comprises a housing having an air intake port and an air discharge port, and a vessel mounted within the housing to store therein food wastes. The vessel has an air inlet and an air outlet. An intake passage is formed in the housing to extend from the intake port to the air inlet for introducing a fresh air into the vessel. An exhaust passage is formed within the housing to extend from the air outlet to the discharge port for discharging therethrough an air containing unpleasant odor resulting from a decomposition of the food wastes. A deodorizer unit comprises a catalyst for decomposing the unpleasant odor in the air, a heater for activating the catalyst, and a case for incorporating therein the catalyst and the heater.

Abstract: A garbage treating apparatus for highly efficient garbage treatment without loss in required energy nor requiring continuous control of the treatment is provided by constituting the apparatus for accommodating within a treating vessel a fermentative garbage decomposing agent carrying a microparasite and the garbage, and mixing them for a fermentative decomposing treatment of the garbage through one of a plurality of treating modes mutually selectably changed over in response to sensed moisture content of the resulting garbage mixture sensed by a moisture sensing mechanism.

Abstract: Surface-treated Al or Al alloy materials which excel in adhesive property, formability, weldability, phosphatability, paint adhesion, and post-painting corrosion resistance are provided by forming a coated layer containing Zn and Fe or one or more of Si oxides, Al oxides and Al hydroxides together therewith, on the surface of Al or Al alloy base. The surface-treated Al or Al alloy materials are useful as metallic material to be painted and used after press forming and other processing, spot or laser welding and phosphating, including panel materials for automobiles and other various vehicles, shells for housefold electrical apparatus, and building materials.

Abstract: An aluminum alloy material having a surface suitable for zinc phosphate processing prepared by a process comprising the steps of (1) cleaning the aluminum alloy surface, and (2) forming a composite film layer comprising Zn metal, Ni or Mn metal, and silicon oxide on the surface of the aluminum alloy.

Abstract: An aluminum alloy composite material for brazing has a core member made of an aluminum alloy, Al-Si filler member and a cladding member made of an aluminum alloy. Mg contained in the aluminum alloy of the core member is restricted to within 0.2% or less by weight. The aluminum alloy of the cladding member essentially consists of 0.3% to 2.5% by weight of Mg. During brazing, the core member serves to restrain the diffusion of Si from the filler member clad on one surface of the core member and the diffusion of Mg from the cladding member clad on the opposite surface of the core member.